Merge branch 'feature/freertos_optimized_taskselection' into 'master'
feature/freertos optimized task selection o S2 Beta or unicore configurations Closes IDF-1116 See merge request espressif/esp-idf!6616
This commit is contained in:
commit
c1a1e19c2b
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@ -39,6 +39,15 @@ menu "FreeRTOS"
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endchoice
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endchoice
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config FREERTOS_OPTIMIZED_SCHEDULER
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bool "Enable FreeRTOS pĺatform optimized scheduler"
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depends on FREERTOS_UNICORE
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default y
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help
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On most platforms there are instructions can speedup the ready task
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searching. Enabling this option the FreeRTOS with this instructions
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support will be built.
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config FREERTOS_HZ
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config FREERTOS_HZ
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int "Tick rate (Hz)"
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int "Tick rate (Hz)"
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range 1 1000
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range 1 1000
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@ -72,6 +72,10 @@
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#include "sdkconfig.h"
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#include "sdkconfig.h"
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/* enable use of optimized task selection by the scheduler */
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#ifdef CONFIG_FREERTOS_OPTIMIZED_SCHEDULER
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
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#endif
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/* ESP31 and ESP32 are dualcore processors. */
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/* ESP31 and ESP32 are dualcore processors. */
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#ifndef CONFIG_FREERTOS_UNICORE
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#ifndef CONFIG_FREERTOS_UNICORE
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@ -469,6 +469,28 @@ void vApplicationSleep( TickType_t xExpectedIdleTime );
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#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
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#define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
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/*-----------------------------------------------------------*/
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/* Architecture specific optimisations. */
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#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
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/* Check the configuration. */
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#if( configMAX_PRIORITIES > 32 )
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#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 different priorities as tasks that share a priority will time slice.
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#endif
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/* Store/clear the ready priorities in a bit map. */
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#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
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#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
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/*-----------------------------------------------------------*/
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#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( ( uxReadyPriorities ) ) )
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#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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/*-----------------------------------------------------------*/
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// porttrace
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// porttrace
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#if configUSE_TRACE_FACILITY_2
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#if configUSE_TRACE_FACILITY_2
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#include "porttrace.h"
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#include "porttrace.h"
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@ -368,7 +368,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
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\
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\
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/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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the same priority get an equal share of the processor time. */ \
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the same priority get an equal share of the processor time. */ \
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listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK */
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} /* taskSELECT_HIGHEST_PRIORITY_TASK */
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -397,7 +397,7 @@ PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ portNUM_PROCESSORS
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/* Find the highest priority queue that contains ready tasks. */ \
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/* Find the highest priority queue that contains ready tasks. */ \
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portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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listGET_OWNER_OF_NEXT_ENTRY( xTaskGetCurrentTaskHandle(), &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -2723,7 +2723,7 @@ void vTaskSwitchContext( void )
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//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
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//Theoretically, this is only called from either the tick interrupt or the crosscore interrupt, so disabling
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//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
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//interrupts shouldn't be necessary anymore. Still, for safety we'll leave it in for now.
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int irqstate=portENTER_CRITICAL_NESTED();
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int irqstate=portENTER_CRITICAL_NESTED();
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tskTCB * pxTCB;
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if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
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if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) pdFALSE )
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{
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{
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/* The scheduler is currently suspended - do not allow a context
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/* The scheduler is currently suspended - do not allow a context
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@ -2782,10 +2782,12 @@ void vTaskSwitchContext( void )
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vPortCPUAcquireMutex( &xTaskQueueMutex );
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vPortCPUAcquireMutex( &xTaskQueueMutex );
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#endif
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#endif
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#if !configUSE_PORT_OPTIMISED_TASK_SELECTION
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unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
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unsigned portBASE_TYPE foundNonExecutingWaiter = pdFALSE, ableToSchedule = pdFALSE, resetListHead;
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portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
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unsigned portBASE_TYPE holdTop=pdFALSE;
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unsigned portBASE_TYPE holdTop=pdFALSE;
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tskTCB * pxTCB;
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portBASE_TYPE uxDynamicTopReady = uxTopReadyPriority;
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/*
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/*
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* ToDo: This scheduler doesn't correctly implement the round-robin scheduling as done in the single-core
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* ToDo: This scheduler doesn't correctly implement the round-robin scheduling as done in the single-core
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* FreeRTOS stack when multiple tasks have the same priority and are all ready; it just keeps grabbing the
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* FreeRTOS stack when multiple tasks have the same priority and are all ready; it just keeps grabbing the
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@ -2866,6 +2868,14 @@ void vTaskSwitchContext( void )
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--uxDynamicTopReady;
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--uxDynamicTopReady;
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}
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}
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#else
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//For Unicore targets we can keep the current FreeRTOS O(1)
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//Scheduler. I hope to optimize better the scheduler for
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//Multicore settings -- This will involve to create a per
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//affinity ready task list which will impact hugely on
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//tasks module
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taskSELECT_HIGHEST_PRIORITY_TASK();
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#endif
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traceTASK_SWITCHED_IN();
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traceTASK_SWITCHED_IN();
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xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
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xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
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@ -2877,6 +2887,7 @@ void vTaskSwitchContext( void )
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vPortCPUReleaseMutex( &xTaskQueueMutex );
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vPortCPUReleaseMutex( &xTaskQueueMutex );
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#endif
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#endif
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#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
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#if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
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vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
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vPortSetStackWatchpoint(pxCurrentTCB[xPortGetCoreID()]->pxStack);
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#endif
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#endif
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65
components/freertos/test/test_freertos_scheduling_time.c
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65
components/freertos/test/test_freertos_scheduling_time.c
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@ -0,0 +1,65 @@
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#include <esp_types.h>
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/xtensa_api.h"
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#include "esp_intr_alloc.h"
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#include "xtensa/hal.h"
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#include "unity.h"
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#include "soc/cpu.h"
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#include "test_utils.h"
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typedef struct {
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SemaphoreHandle_t end_sema;
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uint32_t before_sched;
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uint32_t cycles_to_sched;
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TaskHandle_t t1_handle;
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} test_context_t;
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static void test_task_1(void *arg) {
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test_context_t *context = (test_context_t *)arg;
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for( ;; ) {
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context->before_sched = portGET_RUN_TIME_COUNTER_VALUE();
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vPortYield();
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}
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vTaskDelete(NULL);
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}
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static void test_task_2(void *arg) {
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test_context_t *context = (test_context_t *)arg;
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uint32_t accumulator = 0;
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for(int i = 0; i < 10000; i++) {
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accumulator += (portGET_RUN_TIME_COUNTER_VALUE() - context->before_sched);
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vPortYield();
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}
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context->cycles_to_sched = accumulator / 10000;
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vTaskDelete(context->t1_handle);
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xSemaphoreGive(context->end_sema);
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vTaskDelete(NULL);
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}
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TEST_CASE("scheduling time test", "[freertos]")
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{
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test_context_t context;
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context.end_sema = xSemaphoreCreateBinary();
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TEST_ASSERT(context.end_sema != NULL);
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#if !CONFIG_FREERTOS_UNICORE
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xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,1);
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xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,1);
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#else
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xTaskCreatePinnedToCore(test_task_1, "test1" , 4096, &context, 1, &context.t1_handle,0);
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xTaskCreatePinnedToCore(test_task_2, "test2" , 4096, &context, 1, NULL,0);
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#endif
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BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);
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TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
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TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME , "scheduling time %d cycles" ,context.cycles_to_sched);
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}
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#endif //CONFIG_IDF_TARGET_ESP32S2BETA
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#endif //CONFIG_IDF_TARGET_ESP32S2BETA
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//time to perform the task selection plus context switch (from task)
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#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME 1500
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